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<table class="code" id="codeTbl">
<tr name="1" id="1">
<td><a id="l1" class='ln'>1</a></td><td><span class="ct">//</span></td></tr>
<tr name="2" id="2">
<td><a id="l2" class='ln'>2</a></td><td><span class="ct">// Academic License - for use in teaching, academic research, and meeting</span></td></tr>
<tr name="3" id="3">
<td><a id="l3" class='ln'>3</a></td><td><span class="ct">// course requirements at degree granting institutions only.  Not for</span></td></tr>
<tr name="4" id="4">
<td><a id="l4" class='ln'>4</a></td><td><span class="ct">// government, commercial, or other organizational use.</span></td></tr>
<tr name="5" id="5">
<td><a id="l5" class='ln'>5</a></td><td><span class="ct">//</span></td></tr>
<tr name="6" id="6">
<td><a id="l6" class='ln'>6</a></td><td><span class="ct">// File: turtletrajectory.cpp</span></td></tr>
<tr name="7" id="7">
<td><a id="l7" class='ln'>7</a></td><td><span class="ct">//</span></td></tr>
<tr name="8" id="8">
<td><a id="l8" class='ln'>8</a></td><td><span class="ct">// Code generated for Simulink model 'turtletrajectory'.</span></td></tr>
<tr name="9" id="9">
<td><a id="l9" class='ln'>9</a></td><td><span class="ct">//</span></td></tr>
<tr name="10" id="10">
<td><a id="l10" class='ln'>10</a></td><td><span class="ct">// Model version                  : 1.1</span></td></tr>
<tr name="11" id="11">
<td><a id="l11" class='ln'>11</a></td><td><span class="ct">// Simulink Coder version         : 9.0 (R2018b) 24-May-2018</span></td></tr>
<tr name="12" id="12">
<td><a id="l12" class='ln'>12</a></td><td><span class="ct">// C/C++ source code generated on : Fri Aug 14 12:56:48 2020</span></td></tr>
<tr name="13" id="13">
<td><a id="l13" class='ln'>13</a></td><td><span class="ct">//</span></td></tr>
<tr name="14" id="14">
<td><a id="l14" class='ln'>14</a></td><td><span class="ct">// Target selection: ert.tlc</span></td></tr>
<tr name="15" id="15">
<td><a id="l15" class='ln'>15</a></td><td><span class="ct">// Embedded hardware selection: Generic-&gt;Unspecified (assume 32-bit Generic)</span></td></tr>
<tr name="16" id="16">
<td><a id="l16" class='ln'>16</a></td><td><span class="ct">// Code generation objectives: Unspecified</span></td></tr>
<tr name="17" id="17">
<td><a id="l17" class='ln'>17</a></td><td><span class="ct">// Validation result: Not run</span></td></tr>
<tr name="18" id="18">
<td><a id="l18" class='ln'>18</a></td><td><span class="ct">//</span></td></tr>
<tr name="19" id="19">
<td><a id="l19" class='ln'>19</a></td><td><span class="pp">#include "turtletrajectory.h"</span></td></tr>
<tr name="20" id="20">
<td><a id="l20" class='ln'>20</a></td><td><span class="pp">#include "turtletrajectory_private.h"</span></td></tr>
<tr name="21" id="21">
<td><a id="l21" class='ln'>21</a></td><td></td></tr>
<tr name="22" id="22">
<td><a id="l22" class='ln'>22</a></td><td><span class="ct">// Block signals (default storage)</span></td></tr>
<tr name="23" id="23">
<td><a id="l23" class='ln'>23</a></td><td><a id="23c1" class="tk">B_turtletrajectory_T</a> <a id="23c22" class="tk">turtletrajectory_B</a>;</td></tr>
<tr name="24" id="24">
<td><a id="l24" class='ln'>24</a></td><td></td></tr>
<tr name="25" id="25">
<td><a id="l25" class='ln'>25</a></td><td><span class="ct">// Block states (default storage)</span></td></tr>
<tr name="26" id="26">
<td><a id="l26" class='ln'>26</a></td><td><a id="26c1" class="tk">DW_turtletrajectory_T</a> <a id="26c23" class="tk">turtletrajectory_DW</a>;</td></tr>
<tr name="27" id="27">
<td><a id="l27" class='ln'>27</a></td><td></td></tr>
<tr name="28" id="28">
<td><a id="l28" class='ln'>28</a></td><td><span class="ct">// Real-time model</span></td></tr>
<tr name="29" id="29">
<td><a id="l29" class='ln'>29</a></td><td><a id="29c1" class="tk">RT_MODEL_turtletrajectory_T</a> <a id="29c29" class="tk">turtletrajectory_M_</a>;</td></tr>
<tr name="30" id="30">
<td><a id="l30" class='ln'>30</a></td><td><a id="30c1" class="tk">RT_MODEL_turtletrajectory_T</a> <a id="30c29" class="tk">*</a><span class="kw">const</span> <a id="30c36" class="tk">turtletrajectory_M</a> = <a id="30c57" class="tk">&amp;</a><a id="30c58" class="tk">turtletrajectory_M_</a>;</td></tr>
<tr name="31" id="31">
<td><a id="l31" class='ln'>31</a></td><td></td></tr>
<tr name="32" id="32">
<td><a id="l32" class='ln'>32</a></td><td><span class="ct">// Forward declaration for local functions</span></td></tr>
<tr name="33" id="33">
<td><a id="l33" class='ln'>33</a></td><td><span class="kw">static</span> <span class="kw">void</span> <a id="33c13" class="tk">matlabCodegenHandle_matlabCod_e</a>(<a id="33c45" class="tk">robotics_slros_internal_blo_e_T</a> <a id="33c77" class="tk">*</a><a id="33c78" class="tk">obj</a>);</td></tr>
<tr name="34" id="34">
<td><a id="l34" class='ln'>34</a></td><td><span class="kw">static</span> <span class="kw">void</span> <a id="34c13" class="tk">matlabCodegenHandle_matlabCodeg</a>(<a id="34c45" class="tk">robotics_slros_internal_block_T</a> <a id="34c77" class="tk">*</a><a id="34c78" class="tk">obj</a>);</td></tr>
<tr name="35" id="35">
<td><a id="l35" class='ln'>35</a></td><td><span class="kw">static</span> <span class="kw">void</span> <a id="35c13" class="tk">rate_scheduler</a>(<span class="kw">void</span>);</td></tr>
<tr name="36" id="36">
<td><a id="l36" class='ln'>36</a></td><td></td></tr>
<tr name="37" id="37">
<td><a id="l37" class='ln'>37</a></td><td><span class="ct">//</span></td></tr>
<tr name="38" id="38">
<td><a id="l38" class='ln'>38</a></td><td><span class="ct">//   This function updates active task flag for each subrate.</span></td></tr>
<tr name="39" id="39">
<td><a id="l39" class='ln'>39</a></td><td><span class="ct">// The function is called at model base rate, hence the</span></td></tr>
<tr name="40" id="40">
<td><a id="l40" class='ln'>40</a></td><td><span class="ct">// generated code self-manages all its subrates.</span></td></tr>
<tr name="41" id="41">
<td><a id="l41" class='ln'>41</a></td><td><span class="ct">//</span></td></tr>
<tr name="42" id="42">
<td><a id="l42" class='ln'>42</a></td><td><span class="kw">static</span> <span class="kw">void</span> <a id="42c13" class="tk">rate_scheduler</a>(<span class="kw">void</span>)</td></tr>
<tr name="43" id="43">
<td><a id="l43" class='ln'>43</a></td><td><span class="br">{</span></td></tr>
<tr name="44" id="44">
<td><a id="l44" class='ln'>44</a></td><td>  <span class="ct">// Compute which subrates run during the next base time step.  Subrates</span></td></tr>
<tr name="45" id="45">
<td><a id="l45" class='ln'>45</a></td><td>  <span class="ct">//  are an integer multiple of the base rate counter.  Therefore, the subtask</span></td></tr>
<tr name="46" id="46">
<td><a id="l46" class='ln'>46</a></td><td>  <span class="ct">//  counter is reset when it reaches its limit (zero means run).</span></td></tr>
<tr name="47" id="47">
<td><a id="l47" class='ln'>47</a></td><td></td></tr>
<tr name="48" id="48">
<td><a id="l48" class='ln'>48</a></td><td>  (<a id="48c4" class="tk">turtletrajectory_M</a>-&gt;<a id="48c24" class="tk">Timing</a>.<a id="48c31" class="tk">TaskCounters</a>.<a id="48c44" class="tk">TID</a>[1])<a id="48c51" class="tk">++</a>;</td></tr>
<tr name="49" id="49">
<td><a id="l49" class='ln'>49</a></td><td>  <span class="kw">if</span> ((<a id="49c8" class="tk">turtletrajectory_M</a>-&gt;<a id="49c28" class="tk">Timing</a>.<a id="49c35" class="tk">TaskCounters</a>.<a id="49c48" class="tk">TID</a>[1]) <a id="49c56" class="tk">&gt;</a> 99) <span class="br">{</span><span class="ct">// Sample time: [1.0s, 0.0s] </span></td></tr>
<tr name="50" id="50">
<td><a id="l50" class='ln'>50</a></td><td>    <a id="50c5" class="tk">turtletrajectory_M</a>-&gt;<a id="50c25" class="tk">Timing</a>.<a id="50c32" class="tk">TaskCounters</a>.<a id="50c45" class="tk">TID</a>[1] = 0;</td></tr>
<tr name="51" id="51">
<td><a id="l51" class='ln'>51</a></td><td>  <span class="br">}</span></td></tr>
<tr name="52" id="52">
<td><a id="l52" class='ln'>52</a></td><td><span class="br">}</span></td></tr>
<tr name="53" id="53">
<td><a id="l53" class='ln'>53</a></td><td></td></tr>
<tr name="54" id="54">
<td><a id="l54" class='ln'>54</a></td><td><a id="54c1" class="tk">real_T</a> <a id="54c8" class="tk">rt_atan2d_snf</a>(<a id="54c22" class="tk">real_T</a> <a id="54c29" class="tk">u0</a>, <a id="54c33" class="tk">real_T</a> <a id="54c40" class="tk">u1</a>)</td></tr>
<tr name="55" id="55">
<td><a id="l55" class='ln'>55</a></td><td><span class="br">{</span></td></tr>
<tr name="56" id="56">
<td><a id="l56" class='ln'>56</a></td><td>  <a id="56c3" class="tk">real_T</a> <a id="56c10" class="tk">y</a>;</td></tr>
<tr name="57" id="57">
<td><a id="l57" class='ln'>57</a></td><td>  <a id="57c3" class="tk">int32_T</a> <a id="57c11" class="tk">u0_0</a>;</td></tr>
<tr name="58" id="58">
<td><a id="l58" class='ln'>58</a></td><td>  <a id="58c3" class="tk">int32_T</a> <a id="58c11" class="tk">u1_0</a>;</td></tr>
<tr name="59" id="59">
<td><a id="l59" class='ln'>59</a></td><td>  <span class="kw">if</span> (<a id="59c7" class="tk">rtIsNaN</a>(<a id="59c15" class="tk">u0</a>) <a id="59c19" class="tk">||</a> <a id="59c22" class="tk">rtIsNaN</a>(<a id="59c30" class="tk">u1</a>)) <span class="br">{</span></td></tr>
<tr name="60" id="60">
<td><a id="l60" class='ln'>60</a></td><td>    <a id="60c5" class="tk">y</a> = (<a id="60c10" class="tk">rtNaN</a>);</td></tr>
<tr name="61" id="61">
<td><a id="l61" class='ln'>61</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="kw">if</span> (<a id="61c14" class="tk">rtIsInf</a>(<a id="61c22" class="tk">u0</a>) <a id="61c26" class="tk">&amp;&amp;</a> <a id="61c29" class="tk">rtIsInf</a>(<a id="61c37" class="tk">u1</a>)) <span class="br">{</span></td></tr>
<tr name="62" id="62">
<td><a id="l62" class='ln'>62</a></td><td>    <span class="kw">if</span> (<a id="62c9" class="tk">u0</a> <a id="62c12" class="tk">&gt;</a> 0.0) <span class="br">{</span></td></tr>
<tr name="63" id="63">
<td><a id="l63" class='ln'>63</a></td><td>      <a id="63c7" class="tk">u0_0</a> = 1;</td></tr>
<tr name="64" id="64">
<td><a id="l64" class='ln'>64</a></td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
<tr name="65" id="65">
<td><a id="l65" class='ln'>65</a></td><td>      <a id="65c7" class="tk">u0_0</a> = <a id="65c14" class="tk">-</a>1;</td></tr>
<tr name="66" id="66">
<td><a id="l66" class='ln'>66</a></td><td>    <span class="br">}</span></td></tr>
<tr name="67" id="67">
<td><a id="l67" class='ln'>67</a></td><td></td></tr>
<tr name="68" id="68">
<td><a id="l68" class='ln'>68</a></td><td>    <span class="kw">if</span> (<a id="68c9" class="tk">u1</a> <a id="68c12" class="tk">&gt;</a> 0.0) <span class="br">{</span></td></tr>
<tr name="69" id="69">
<td><a id="l69" class='ln'>69</a></td><td>      <a id="69c7" class="tk">u1_0</a> = 1;</td></tr>
<tr name="70" id="70">
<td><a id="l70" class='ln'>70</a></td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
<tr name="71" id="71">
<td><a id="l71" class='ln'>71</a></td><td>      <a id="71c7" class="tk">u1_0</a> = <a id="71c14" class="tk">-</a>1;</td></tr>
<tr name="72" id="72">
<td><a id="l72" class='ln'>72</a></td><td>    <span class="br">}</span></td></tr>
<tr name="73" id="73">
<td><a id="l73" class='ln'>73</a></td><td></td></tr>
<tr name="74" id="74">
<td><a id="l74" class='ln'>74</a></td><td>    <a id="74c5" class="tk">y</a> = <a id="74c9" class="tk">atan2</a>((<a id="74c16" class="tk">real_T</a>)<a id="74c23" class="tk">u0_0</a>, (<a id="74c30" class="tk">real_T</a>)<a id="74c37" class="tk">u1_0</a>);</td></tr>
<tr name="75" id="75">
<td><a id="l75" class='ln'>75</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="kw">if</span> (<a id="75c14" class="tk">u1</a> <a id="75c17" class="tk">==</a> 0.0) <span class="br">{</span></td></tr>
<tr name="76" id="76">
<td><a id="l76" class='ln'>76</a></td><td>    <span class="kw">if</span> (<a id="76c9" class="tk">u0</a> <a id="76c12" class="tk">&gt;</a> 0.0) <span class="br">{</span></td></tr>
<tr name="77" id="77">
<td><a id="l77" class='ln'>77</a></td><td>      <a id="77c7" class="tk">y</a> = <a id="77c11" class="tk">RT_PI</a> <a id="77c17" class="tk">/</a> 2.0;</td></tr>
<tr name="78" id="78">
<td><a id="l78" class='ln'>78</a></td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="kw">if</span> (<a id="78c16" class="tk">u0</a> <a id="78c19" class="tk">&lt;</a> 0.0) <span class="br">{</span></td></tr>
<tr name="79" id="79">
<td><a id="l79" class='ln'>79</a></td><td>      <a id="79c7" class="tk">y</a> = <a id="79c11" class="tk">-</a>(<a id="79c13" class="tk">RT_PI</a> <a id="79c19" class="tk">/</a> 2.0);</td></tr>
<tr name="80" id="80">
<td><a id="l80" class='ln'>80</a></td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
<tr name="81" id="81">
<td><a id="l81" class='ln'>81</a></td><td>      <a id="81c7" class="tk">y</a> = 0.0;</td></tr>
<tr name="82" id="82">
<td><a id="l82" class='ln'>82</a></td><td>    <span class="br">}</span></td></tr>
<tr name="83" id="83">
<td><a id="l83" class='ln'>83</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
<tr name="84" id="84">
<td><a id="l84" class='ln'>84</a></td><td>    <a id="84c5" class="tk">y</a> = <a id="84c9" class="tk">atan2</a>(<a id="84c15" class="tk">u0</a>, <a id="84c19" class="tk">u1</a>);</td></tr>
<tr name="85" id="85">
<td><a id="l85" class='ln'>85</a></td><td>  <span class="br">}</span></td></tr>
<tr name="86" id="86">
<td><a id="l86" class='ln'>86</a></td><td></td></tr>
<tr name="87" id="87">
<td><a id="l87" class='ln'>87</a></td><td>  <span class="kw">return</span> <a id="87c10" class="tk">y</a>;</td></tr>
<tr name="88" id="88">
<td><a id="l88" class='ln'>88</a></td><td><span class="br">}</span></td></tr>
<tr name="89" id="89">
<td><a id="l89" class='ln'>89</a></td><td></td></tr>
<tr name="90" id="90">
<td><a id="l90" class='ln'>90</a></td><td><a id="90c1" class="tk">real_T</a> <a id="90c8" class="tk">rt_powd_snf</a>(<a id="90c20" class="tk">real_T</a> <a id="90c27" class="tk">u0</a>, <a id="90c31" class="tk">real_T</a> <a id="90c38" class="tk">u1</a>)</td></tr>
<tr name="91" id="91">
<td><a id="l91" class='ln'>91</a></td><td><span class="br">{</span></td></tr>
<tr name="92" id="92">
<td><a id="l92" class='ln'>92</a></td><td>  <a id="92c3" class="tk">real_T</a> <a id="92c10" class="tk">y</a>;</td></tr>
<tr name="93" id="93">
<td><a id="l93" class='ln'>93</a></td><td>  <a id="93c3" class="tk">real_T</a> <a id="93c10" class="tk">tmp</a>;</td></tr>
<tr name="94" id="94">
<td><a id="l94" class='ln'>94</a></td><td>  <a id="94c3" class="tk">real_T</a> <a id="94c10" class="tk">tmp_0</a>;</td></tr>
<tr name="95" id="95">
<td><a id="l95" class='ln'>95</a></td><td>  <span class="kw">if</span> (<a id="95c7" class="tk">rtIsNaN</a>(<a id="95c15" class="tk">u0</a>) <a id="95c19" class="tk">||</a> <a id="95c22" class="tk">rtIsNaN</a>(<a id="95c30" class="tk">u1</a>)) <span class="br">{</span></td></tr>
<tr name="96" id="96">
<td><a id="l96" class='ln'>96</a></td><td>    <a id="96c5" class="tk">y</a> = (<a id="96c10" class="tk">rtNaN</a>);</td></tr>
<tr name="97" id="97">
<td><a id="l97" class='ln'>97</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
<tr name="98" id="98">
<td><a id="l98" class='ln'>98</a></td><td>    <a id="98c5" class="tk">tmp</a> = <a id="98c11" class="tk">fabs</a>(<a id="98c16" class="tk">u0</a>);</td></tr>
<tr name="99" id="99">
<td><a id="l99" class='ln'>99</a></td><td>    <a id="99c5" class="tk">tmp_0</a> = <a id="99c13" class="tk">fabs</a>(<a id="99c18" class="tk">u1</a>);</td></tr>
<tr name="100" id="100">
<td><a id="l100" class='ln'>100</a></td><td>    <span class="kw">if</span> (<a id="100c9" class="tk">rtIsInf</a>(<a id="100c17" class="tk">u1</a>)) <span class="br">{</span></td></tr>
<tr name="101" id="101">
<td><a id="l101" class='ln'>101</a></td><td>      <span class="kw">if</span> (<a id="101c11" class="tk">tmp</a> <a id="101c15" class="tk">==</a> 1.0) <span class="br">{</span></td></tr>
<tr name="102" id="102">
<td><a id="l102" class='ln'>102</a></td><td>        <a id="102c9" class="tk">y</a> = 1.0;</td></tr>
<tr name="103" id="103">
<td><a id="l103" class='ln'>103</a></td><td>      <span class="br">}</span> <span class="kw">else</span> <span class="kw">if</span> (<a id="103c18" class="tk">tmp</a> <a id="103c22" class="tk">&gt;</a> 1.0) <span class="br">{</span></td></tr>
<tr name="104" id="104">
<td><a id="l104" class='ln'>104</a></td><td>        <span class="kw">if</span> (<a id="104c13" class="tk">u1</a> <a id="104c16" class="tk">&gt;</a> 0.0) <span class="br">{</span></td></tr>
<tr name="105" id="105">
<td><a id="l105" class='ln'>105</a></td><td>          <a id="105c11" class="tk">y</a> = (<a id="105c16" class="tk">rtInf</a>);</td></tr>
<tr name="106" id="106">
<td><a id="l106" class='ln'>106</a></td><td>        <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
<tr name="107" id="107">
<td><a id="l107" class='ln'>107</a></td><td>          <a id="107c11" class="tk">y</a> = 0.0;</td></tr>
<tr name="108" id="108">
<td><a id="l108" class='ln'>108</a></td><td>        <span class="br">}</span></td></tr>
<tr name="109" id="109">
<td><a id="l109" class='ln'>109</a></td><td>      <span class="br">}</span> <span class="kw">else</span> <span class="kw">if</span> (<a id="109c18" class="tk">u1</a> <a id="109c21" class="tk">&gt;</a> 0.0) <span class="br">{</span></td></tr>
<tr name="110" id="110">
<td><a id="l110" class='ln'>110</a></td><td>        <a id="110c9" class="tk">y</a> = 0.0;</td></tr>
<tr name="111" id="111">
<td><a id="l111" class='ln'>111</a></td><td>      <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
<tr name="112" id="112">
<td><a id="l112" class='ln'>112</a></td><td>        <a id="112c9" class="tk">y</a> = (<a id="112c14" class="tk">rtInf</a>);</td></tr>
<tr name="113" id="113">
<td><a id="l113" class='ln'>113</a></td><td>      <span class="br">}</span></td></tr>
<tr name="114" id="114">
<td><a id="l114" class='ln'>114</a></td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="kw">if</span> (<a id="114c16" class="tk">tmp_0</a> <a id="114c22" class="tk">==</a> 0.0) <span class="br">{</span></td></tr>
<tr name="115" id="115">
<td><a id="l115" class='ln'>115</a></td><td>      <a id="115c7" class="tk">y</a> = 1.0;</td></tr>
<tr name="116" id="116">
<td><a id="l116" class='ln'>116</a></td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="kw">if</span> (<a id="116c16" class="tk">tmp_0</a> <a id="116c22" class="tk">==</a> 1.0) <span class="br">{</span></td></tr>
<tr name="117" id="117">
<td><a id="l117" class='ln'>117</a></td><td>      <span class="kw">if</span> (<a id="117c11" class="tk">u1</a> <a id="117c14" class="tk">&gt;</a> 0.0) <span class="br">{</span></td></tr>
<tr name="118" id="118">
<td><a id="l118" class='ln'>118</a></td><td>        <a id="118c9" class="tk">y</a> = <a id="118c13" class="tk">u0</a>;</td></tr>
<tr name="119" id="119">
<td><a id="l119" class='ln'>119</a></td><td>      <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
<tr name="120" id="120">
<td><a id="l120" class='ln'>120</a></td><td>        <a id="120c9" class="tk">y</a> = 1.0 <a id="120c17" class="tk">/</a> <a id="120c19" class="tk">u0</a>;</td></tr>
<tr name="121" id="121">
<td><a id="l121" class='ln'>121</a></td><td>      <span class="br">}</span></td></tr>
<tr name="122" id="122">
<td><a id="l122" class='ln'>122</a></td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="kw">if</span> (<a id="122c16" class="tk">u1</a> <a id="122c19" class="tk">==</a> 2.0) <span class="br">{</span></td></tr>
<tr name="123" id="123">
<td><a id="l123" class='ln'>123</a></td><td>      <a id="123c7" class="tk">y</a> = <a id="123c11" class="tk">u0</a> <a id="123c14" class="tk">*</a> <a id="123c16" class="tk">u0</a>;</td></tr>
<tr name="124" id="124">
<td><a id="l124" class='ln'>124</a></td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="kw">if</span> ((<a id="124c17" class="tk">u1</a> <a id="124c20" class="tk">==</a> 0.5) <a id="124c28" class="tk">&amp;&amp;</a> (<a id="124c32" class="tk">u0</a> <a id="124c35" class="tk">&gt;=</a> 0.0)) <span class="br">{</span></td></tr>
<tr name="125" id="125">
<td><a id="l125" class='ln'>125</a></td><td>      <a id="125c7" class="tk">y</a> = <a id="125c11" class="tk">sqrt</a>(<a id="125c16" class="tk">u0</a>);</td></tr>
<tr name="126" id="126">
<td><a id="l126" class='ln'>126</a></td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="kw">if</span> ((<a id="126c17" class="tk">u0</a> <a id="126c20" class="tk">&lt;</a> 0.0) <a id="126c27" class="tk">&amp;&amp;</a> (<a id="126c31" class="tk">u1</a> <a id="126c34" class="tk">&gt;</a> <a id="126c36" class="tk">floor</a>(<a id="126c42" class="tk">u1</a>))) <span class="br">{</span></td></tr>
<tr name="127" id="127">
<td><a id="l127" class='ln'>127</a></td><td>      <a id="127c7" class="tk">y</a> = (<a id="127c12" class="tk">rtNaN</a>);</td></tr>
<tr name="128" id="128">
<td><a id="l128" class='ln'>128</a></td><td>    <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
<tr name="129" id="129">
<td><a id="l129" class='ln'>129</a></td><td>      <a id="129c7" class="tk">y</a> = <a id="129c11" class="tk">pow</a>(<a id="129c15" class="tk">u0</a>, <a id="129c19" class="tk">u1</a>);</td></tr>
<tr name="130" id="130">
<td><a id="l130" class='ln'>130</a></td><td>    <span class="br">}</span></td></tr>
<tr name="131" id="131">
<td><a id="l131" class='ln'>131</a></td><td>  <span class="br">}</span></td></tr>
<tr name="132" id="132">
<td><a id="l132" class='ln'>132</a></td><td></td></tr>
<tr name="133" id="133">
<td><a id="l133" class='ln'>133</a></td><td>  <span class="kw">return</span> <a id="133c10" class="tk">y</a>;</td></tr>
<tr name="134" id="134">
<td><a id="l134" class='ln'>134</a></td><td><span class="br">}</span></td></tr>
<tr name="135" id="135">
<td><a id="l135" class='ln'>135</a></td><td></td></tr>
<tr name="136" id="136">
<td><a id="l136" class='ln'>136</a></td><td><a id="136c1" class="tk">real_T</a> <a id="136c8" class="tk">rt_modd_snf</a>(<a id="136c20" class="tk">real_T</a> <a id="136c27" class="tk">u0</a>, <a id="136c31" class="tk">real_T</a> <a id="136c38" class="tk">u1</a>)</td></tr>
<tr name="137" id="137">
<td><a id="l137" class='ln'>137</a></td><td><span class="br">{</span></td></tr>
<tr name="138" id="138">
<td><a id="l138" class='ln'>138</a></td><td>  <a id="138c3" class="tk">real_T</a> <a id="138c10" class="tk">y</a>;</td></tr>
<tr name="139" id="139">
<td><a id="l139" class='ln'>139</a></td><td>  <a id="139c3" class="tk">boolean_T</a> <a id="139c13" class="tk">yEq</a>;</td></tr>
<tr name="140" id="140">
<td><a id="l140" class='ln'>140</a></td><td>  <a id="140c3" class="tk">real_T</a> <a id="140c10" class="tk">q</a>;</td></tr>
<tr name="141" id="141">
<td><a id="l141" class='ln'>141</a></td><td>  <a id="141c3" class="tk">y</a> = <a id="141c7" class="tk">u0</a>;</td></tr>
<tr name="142" id="142">
<td><a id="l142" class='ln'>142</a></td><td>  <span class="kw">if</span> (<a id="142c7" class="tk">rtIsNaN</a>(<a id="142c15" class="tk">u0</a>) <a id="142c19" class="tk">||</a> <a id="142c22" class="tk">rtIsInf</a>(<a id="142c30" class="tk">u0</a>) <a id="142c34" class="tk">||</a> (<a id="142c38" class="tk">rtIsNaN</a>(<a id="142c46" class="tk">u1</a>) <a id="142c50" class="tk">||</a> <a id="142c53" class="tk">rtIsInf</a>(<a id="142c61" class="tk">u1</a>))) <span class="br">{</span></td></tr>
<tr name="143" id="143">
<td><a id="l143" class='ln'>143</a></td><td>    <span class="kw">if</span> (<a id="143c9" class="tk">u1</a> <a id="143c12" class="tk">!=</a> 0.0) <span class="br">{</span></td></tr>
<tr name="144" id="144">
<td><a id="l144" class='ln'>144</a></td><td>      <a id="144c7" class="tk">y</a> = (<a id="144c12" class="tk">rtNaN</a>);</td></tr>
<tr name="145" id="145">
<td><a id="l145" class='ln'>145</a></td><td>    <span class="br">}</span></td></tr>
<tr name="146" id="146">
<td><a id="l146" class='ln'>146</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="kw">if</span> (<a id="146c14" class="tk">u0</a> <a id="146c17" class="tk">==</a> 0.0) <span class="br">{</span></td></tr>
<tr name="147" id="147">
<td><a id="l147" class='ln'>147</a></td><td>    <a id="147c5" class="tk">y</a> = <a id="147c9" class="tk">u1</a> <a id="147c12" class="tk">*</a> 0.0;</td></tr>
<tr name="148" id="148">
<td><a id="l148" class='ln'>148</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
<tr name="149" id="149">
<td><a id="l149" class='ln'>149</a></td><td>    <span class="kw">if</span> (<a id="149c9" class="tk">u1</a> <a id="149c12" class="tk">!=</a> 0.0) <span class="br">{</span></td></tr>
<tr name="150" id="150">
<td><a id="l150" class='ln'>150</a></td><td>      <a id="150c7" class="tk">y</a> = <a id="150c11" class="tk">fmod</a>(<a id="150c16" class="tk">u0</a>, <a id="150c20" class="tk">u1</a>);</td></tr>
<tr name="151" id="151">
<td><a id="l151" class='ln'>151</a></td><td>      <a id="151c7" class="tk">yEq</a> = (<a id="151c14" class="tk">y</a> <a id="151c16" class="tk">==</a> 0.0);</td></tr>
<tr name="152" id="152">
<td><a id="l152" class='ln'>152</a></td><td>      <span class="kw">if</span> ((<a id="152c12" class="tk">!</a><a id="152c13" class="tk">yEq</a>) <a id="152c18" class="tk">&amp;&amp;</a> (<a id="152c22" class="tk">u1</a> <a id="152c25" class="tk">&gt;</a> <a id="152c27" class="tk">floor</a>(<a id="152c33" class="tk">u1</a>))) <span class="br">{</span></td></tr>
<tr name="153" id="153">
<td><a id="l153" class='ln'>153</a></td><td>        <a id="153c9" class="tk">q</a> = <a id="153c13" class="tk">fabs</a>(<a id="153c18" class="tk">u0</a> <a id="153c21" class="tk">/</a> <a id="153c23" class="tk">u1</a>);</td></tr>
<tr name="154" id="154">
<td><a id="l154" class='ln'>154</a></td><td>        <a id="154c9" class="tk">yEq</a> = (<a id="154c16" class="tk">fabs</a>(<a id="154c21" class="tk">q</a> <a id="154c23" class="tk">-</a> <a id="154c25" class="tk">floor</a>(<a id="154c31" class="tk">q</a> <a id="154c33" class="tk">+</a> 0.5)) <a id="154c41" class="tk">&lt;=</a> <a id="154c44" class="tk">DBL_EPSILON</a> <a id="154c56" class="tk">*</a> <a id="154c58" class="tk">q</a>);</td></tr>
<tr name="155" id="155">
<td><a id="l155" class='ln'>155</a></td><td>      <span class="br">}</span></td></tr>
<tr name="156" id="156">
<td><a id="l156" class='ln'>156</a></td><td></td></tr>
<tr name="157" id="157">
<td><a id="l157" class='ln'>157</a></td><td>      <span class="kw">if</span> (<a id="157c11" class="tk">yEq</a>) <span class="br">{</span></td></tr>
<tr name="158" id="158">
<td><a id="l158" class='ln'>158</a></td><td>        <a id="158c9" class="tk">y</a> = <a id="158c13" class="tk">u1</a> <a id="158c16" class="tk">*</a> 0.0;</td></tr>
<tr name="159" id="159">
<td><a id="l159" class='ln'>159</a></td><td>      <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
<tr name="160" id="160">
<td><a id="l160" class='ln'>160</a></td><td>        <span class="kw">if</span> ((<a id="160c14" class="tk">u0</a> <a id="160c17" class="tk">&lt;</a> 0.0) <a id="160c24" class="tk">!=</a> (<a id="160c28" class="tk">u1</a> <a id="160c31" class="tk">&lt;</a> 0.0)) <span class="br">{</span></td></tr>
<tr name="161" id="161">
<td><a id="l161" class='ln'>161</a></td><td>          <a id="161c11" class="tk">y</a> <a id="161c13" class="tk">+=</a> <a id="161c16" class="tk">u1</a>;</td></tr>
<tr name="162" id="162">
<td><a id="l162" class='ln'>162</a></td><td>        <span class="br">}</span></td></tr>
<tr name="163" id="163">
<td><a id="l163" class='ln'>163</a></td><td>      <span class="br">}</span></td></tr>
<tr name="164" id="164">
<td><a id="l164" class='ln'>164</a></td><td>    <span class="br">}</span></td></tr>
<tr name="165" id="165">
<td><a id="l165" class='ln'>165</a></td><td>  <span class="br">}</span></td></tr>
<tr name="166" id="166">
<td><a id="l166" class='ln'>166</a></td><td></td></tr>
<tr name="167" id="167">
<td><a id="l167" class='ln'>167</a></td><td>  <span class="kw">return</span> <a id="167c10" class="tk">y</a>;</td></tr>
<tr name="168" id="168">
<td><a id="l168" class='ln'>168</a></td><td><span class="br">}</span></td></tr>
<tr name="169" id="169">
<td><a id="l169" class='ln'>169</a></td><td></td></tr>
<tr name="170" id="170">
<td><a id="l170" class='ln'>170</a></td><td><span class="kw">static</span> <span class="kw">void</span> <a id="170c13" class="tk">matlabCodegenHandle_matlabCod_e</a>(<a id="170c45" class="tk">robotics_slros_internal_blo_e_T</a> <a id="170c77" class="tk">*</a><a id="170c78" class="tk">obj</a>)</td></tr>
<tr name="171" id="171">
<td><a id="l171" class='ln'>171</a></td><td><span class="br">{</span></td></tr>
<tr name="172" id="172">
<td><a id="l172" class='ln'>172</a></td><td>  <span class="kw">if</span> (<a id="172c7" class="tk">!</a><a id="172c8" class="tk">obj</a>-&gt;<a id="172c13" class="tk">matlabCodegenIsDeleted</a>) <span class="br">{</span></td></tr>
<tr name="173" id="173">
<td><a id="l173" class='ln'>173</a></td><td>    <a id="173c5" class="tk">obj</a>-&gt;<a id="173c10" class="tk">matlabCodegenIsDeleted</a> = true;</td></tr>
<tr name="174" id="174">
<td><a id="l174" class='ln'>174</a></td><td>  <span class="br">}</span></td></tr>
<tr name="175" id="175">
<td><a id="l175" class='ln'>175</a></td><td><span class="br">}</span></td></tr>
<tr name="176" id="176">
<td><a id="l176" class='ln'>176</a></td><td></td></tr>
<tr name="177" id="177">
<td><a id="l177" class='ln'>177</a></td><td><span class="kw">static</span> <span class="kw">void</span> <a id="177c13" class="tk">matlabCodegenHandle_matlabCodeg</a>(<a id="177c45" class="tk">robotics_slros_internal_block_T</a> <a id="177c77" class="tk">*</a><a id="177c78" class="tk">obj</a>)</td></tr>
<tr name="178" id="178">
<td><a id="l178" class='ln'>178</a></td><td><span class="br">{</span></td></tr>
<tr name="179" id="179">
<td><a id="l179" class='ln'>179</a></td><td>  <span class="kw">if</span> (<a id="179c7" class="tk">!</a><a id="179c8" class="tk">obj</a>-&gt;<a id="179c13" class="tk">matlabCodegenIsDeleted</a>) <span class="br">{</span></td></tr>
<tr name="180" id="180">
<td><a id="l180" class='ln'>180</a></td><td>    <a id="180c5" class="tk">obj</a>-&gt;<a id="180c10" class="tk">matlabCodegenIsDeleted</a> = true;</td></tr>
<tr name="181" id="181">
<td><a id="l181" class='ln'>181</a></td><td>  <span class="br">}</span></td></tr>
<tr name="182" id="182">
<td><a id="l182" class='ln'>182</a></td><td><span class="br">}</span></td></tr>
<tr name="183" id="183">
<td><a id="l183" class='ln'>183</a></td><td></td></tr>
<tr name="184" id="184">
<td><a id="l184" class='ln'>184</a></td><td><span class="ct">// Model step function</span></td></tr>
<tr name="185" id="185">
<td><a id="l185" class='ln'>185</a></td><td><span class="kw">void</span> <a id="185c6" class="tk">turtletrajectory_step</a>(<span class="kw">void</span>)</td></tr>
<tr name="186" id="186">
<td><a id="l186" class='ln'>186</a></td><td><span class="br">{</span></td></tr>
<tr name="187" id="187">
<td><a id="l187" class='ln'>187</a></td><td>  <a id="187c3" class="tk">SL_Bus_turtletrajectory_turtlesim_Pose</a> <a id="187c42" class="tk">b_varargout_2</a>;</td></tr>
<tr name="188" id="188">
<td><a id="l188" class='ln'>188</a></td><td>  <a id="188c3" class="tk">boolean_T</a> <a id="188c13" class="tk">b_varargout_1</a>;</td></tr>
<tr name="189" id="189">
<td><a id="l189" class='ln'>189</a></td><td>  <a id="189c3" class="tk">real_T</a> <a id="189c10" class="tk">rtb_ld_g</a>;</td></tr>
<tr name="190" id="190">
<td><a id="l190" class='ln'>190</a></td><td>  <a id="190c3" class="tk">real_T</a> <a id="190c10" class="tk">rtb_Sum1</a>;</td></tr>
<tr name="191" id="191">
<td><a id="l191" class='ln'>191</a></td><td>  <a id="191c3" class="tk">real_T</a> <a id="191c10" class="tk">rtb_ld</a>;</td></tr>
<tr name="192" id="192">
<td><a id="l192" class='ln'>192</a></td><td>  <span class="kw">if</span> (<a id="192c7" class="tk">turtletrajectory_M</a>-&gt;<a id="192c27" class="tk">Timing</a>.<a id="192c34" class="tk">TaskCounters</a>.<a id="192c47" class="tk">TID</a>[1] <a id="192c54" class="tk">==</a> 0) <span class="br">{</span></td></tr>
<tr name="193" id="193">
<td><a id="l193" class='ln'>193</a></td><td>    <span class="ct">// S-Function (fcncallgen): '<a class="ct blk" blk_line="193">&lt;S2&gt;/Function-Call Generator</a>' incorporates:</span></td></tr>
<tr name="194" id="194">
<td><a id="l194" class='ln'>194</a></td><td>    <span class="ct">//   SubSystem: '<a class="ct blk" blk_line="194">&lt;S2&gt;/Function-Call Subsystem</a>'</span></td></tr>
<tr name="195" id="195">
<td><a id="l195" class='ln'>195</a></td><td></td></tr>
<tr name="196" id="196">
<td><a id="l196" class='ln'>196</a></td><td>    <span class="ct">// SignalConversion: '<a class="ct blk" blk_line="196">&lt;S10&gt;/Out</a>' incorporates:</span></td></tr>
<tr name="197" id="197">
<td><a id="l197" class='ln'>197</a></td><td>    <span class="ct">//   Constant: '<a class="ct blk" blk_line="197">&lt;S10&gt;/Vector</a>'</span></td></tr>
<tr name="198" id="198">
<td><a id="l198" class='ln'>198</a></td><td>    <span class="ct">//   MultiPortSwitch: '<a class="ct blk" blk_line="198">&lt;S10&gt;/Output</a>'</span></td></tr>
<tr name="199" id="199">
<td><a id="l199" class='ln'>199</a></td><td>    <span class="ct">//   UnitDelay: '<a class="ct blk" blk_line="199">&lt;S11&gt;/Output</a>'</span></td></tr>
<tr name="200" id="200">
<td><a id="l200" class='ln'>200</a></td><td></td></tr>
<tr name="201" id="201">
<td><a id="l201" class='ln'>201</a></td><td>    <a id="201c5" class="tk">turtletrajectory_B</a>.<a id="201c24" class="tk">Out</a> =</td></tr>
<tr name="202" id="202">
<td><a id="l202" class='ln'>202</a></td><td>      <a id="202c7" class="tk">turtletrajectory_P</a>.<a id="202c26" class="tk">RepeatingSequenceStair_OutValue</a>[<a id="202c58" class="tk">turtletrajectory_DW</a>.<a id="202c78" class="tk">Output_DSTATE</a>];</td></tr>
<tr name="203" id="203">
<td><a id="l203" class='ln'>203</a></td><td></td></tr>
<tr name="204" id="204">
<td><a id="l204" class='ln'>204</a></td><td>    <span class="ct">// Sum: '<a class="ct blk" blk_line="204">&lt;S12&gt;/FixPt Sum1</a>' incorporates:</span></td></tr>
<tr name="205" id="205">
<td><a id="l205" class='ln'>205</a></td><td>    <span class="ct">//   Constant: '<a class="ct blk" blk_line="205">&lt;S12&gt;/FixPt Constant</a>'</span></td></tr>
<tr name="206" id="206">
<td><a id="l206" class='ln'>206</a></td><td>    <span class="ct">//   UnitDelay: '<a class="ct blk" blk_line="206">&lt;S11&gt;/Output</a>'</span></td></tr>
<tr name="207" id="207">
<td><a id="l207" class='ln'>207</a></td><td></td></tr>
<tr name="208" id="208">
<td><a id="l208" class='ln'>208</a></td><td>    <a id="208c5" class="tk">turtletrajectory_DW</a>.<a id="208c25" class="tk">Output_DSTATE</a> = (<a id="208c42" class="tk">uint8_T</a>)((<a id="208c52" class="tk">uint32_T</a>)</td></tr>
<tr name="209" id="209">
<td><a id="l209" class='ln'>209</a></td><td>      <a id="209c7" class="tk">turtletrajectory_DW</a>.<a id="209c27" class="tk">Output_DSTATE</a> <a id="209c41" class="tk">+</a> <a id="209c43" class="tk">turtletrajectory_P</a>.<a id="209c62" class="tk">FixPtConstant_Value</a>);</td></tr>
<tr name="210" id="210">
<td><a id="l210" class='ln'>210</a></td><td></td></tr>
<tr name="211" id="211">
<td><a id="l211" class='ln'>211</a></td><td>    <span class="ct">// Switch: '<a class="ct blk" blk_line="211">&lt;S13&gt;/FixPt Switch</a>' incorporates:</span></td></tr>
<tr name="212" id="212">
<td><a id="l212" class='ln'>212</a></td><td>    <span class="ct">//   Constant: '<a class="ct blk" blk_line="212">&lt;S13&gt;/Constant</a>'</span></td></tr>
<tr name="213" id="213">
<td><a id="l213" class='ln'>213</a></td><td>    <span class="ct">//   UnitDelay: '<a class="ct blk" blk_line="213">&lt;S11&gt;/Output</a>'</span></td></tr>
<tr name="214" id="214">
<td><a id="l214" class='ln'>214</a></td><td></td></tr>
<tr name="215" id="215">
<td><a id="l215" class='ln'>215</a></td><td>    <span class="kw">if</span> (<a id="215c9" class="tk">turtletrajectory_DW</a>.<a id="215c29" class="tk">Output_DSTATE</a> <a id="215c43" class="tk">&gt;</a></td></tr>
<tr name="216" id="216">
<td><a id="l216" class='ln'>216</a></td><td>        <a id="216c9" class="tk">turtletrajectory_P</a>.<a id="216c28" class="tk">LimitedCounter_uplimit</a>) <span class="br">{</span></td></tr>
<tr name="217" id="217">
<td><a id="l217" class='ln'>217</a></td><td>      <a id="217c7" class="tk">turtletrajectory_DW</a>.<a id="217c27" class="tk">Output_DSTATE</a> = <a id="217c43" class="tk">turtletrajectory_P</a>.<a id="217c62" class="tk">Constant_Value_c</a>;</td></tr>
<tr name="218" id="218">
<td><a id="l218" class='ln'>218</a></td><td>    <span class="br">}</span></td></tr>
<tr name="219" id="219">
<td><a id="l219" class='ln'>219</a></td><td></td></tr>
<tr name="220" id="220">
<td><a id="l220" class='ln'>220</a></td><td>    <span class="ct">// End of Switch: '<a class="ct blk" blk_line="220">&lt;S13&gt;/FixPt Switch</a>'</span></td></tr>
<tr name="221" id="221">
<td><a id="l221" class='ln'>221</a></td><td></td></tr>
<tr name="222" id="222">
<td><a id="l222" class='ln'>222</a></td><td>    <span class="ct">// SignalConversion: '<a class="ct blk" blk_line="222">&lt;S8&gt;/OutportBuffer_InsertedFor_vx_at_inport_0</a>' incorporates:</span></td></tr>
<tr name="223" id="223">
<td><a id="l223" class='ln'>223</a></td><td>    <span class="ct">//   Constant: '<a class="ct blk" blk_line="223">&lt;S8&gt;/Constant</a>'</span></td></tr>
<tr name="224" id="224">
<td><a id="l224" class='ln'>224</a></td><td></td></tr>
<tr name="225" id="225">
<td><a id="l225" class='ln'>225</a></td><td>    <a id="225c5" class="tk">turtletrajectory_B</a>.<a id="225c24" class="tk">OutportBuffer_InsertedFor_vx_at</a> =</td></tr>
<tr name="226" id="226">
<td><a id="l226" class='ln'>226</a></td><td>      <a id="226c7" class="tk">turtletrajectory_P</a>.<a id="226c26" class="tk">Constant_Value_b</a>;</td></tr>
<tr name="227" id="227">
<td><a id="l227" class='ln'>227</a></td><td></td></tr>
<tr name="228" id="228">
<td><a id="l228" class='ln'>228</a></td><td>    <span class="ct">// End of Outputs for S-Function (fcncallgen): '<a class="ct blk" blk_line="228">&lt;S2&gt;/Function-Call Generator</a>' </span></td></tr>
<tr name="229" id="229">
<td><a id="l229" class='ln'>229</a></td><td>  <span class="br">}</span></td></tr>
<tr name="230" id="230">
<td><a id="l230" class='ln'>230</a></td><td></td></tr>
<tr name="231" id="231">
<td><a id="l231" class='ln'>231</a></td><td>  <span class="ct">// Sum: '<a class="ct blk" blk_line="231">&lt;S14&gt;/Add</a>' incorporates:</span></td></tr>
<tr name="232" id="232">
<td><a id="l232" class='ln'>232</a></td><td>  <span class="ct">//   UnitDelay: '<a class="ct blk" blk_line="232">&lt;S14&gt;/Unit Delay</a>'</span></td></tr>
<tr name="233" id="233">
<td><a id="l233" class='ln'>233</a></td><td></td></tr>
<tr name="234" id="234">
<td><a id="l234" class='ln'>234</a></td><td>  <a id="234c3" class="tk">turtletrajectory_DW</a>.<a id="234c23" class="tk">UnitDelay_DSTATE</a> <a id="234c40" class="tk">+=</a> <a id="234c43" class="tk">turtletrajectory_B</a>.<a id="234c62" class="tk">Out</a>;</td></tr>
<tr name="235" id="235">
<td><a id="l235" class='ln'>235</a></td><td></td></tr>
<tr name="236" id="236">
<td><a id="l236" class='ln'>236</a></td><td>  <span class="ct">// Gain: '<a class="ct blk" blk_line="236">&lt;S14&gt;/Gain</a>' incorporates:</span></td></tr>
<tr name="237" id="237">
<td><a id="l237" class='ln'>237</a></td><td>  <span class="ct">//   UnitDelay: '<a class="ct blk" blk_line="237">&lt;S14&gt;/Unit Delay</a>'</span></td></tr>
<tr name="238" id="238">
<td><a id="l238" class='ln'>238</a></td><td></td></tr>
<tr name="239" id="239">
<td><a id="l239" class='ln'>239</a></td><td>  <a id="239c3" class="tk">rtb_Sum1</a> = <a id="239c14" class="tk">turtletrajectory_P</a>.<a id="239c33" class="tk">Gain_Gain</a> <a id="239c43" class="tk">*</a> <a id="239c45" class="tk">turtletrajectory_DW</a>.<a id="239c65" class="tk">UnitDelay_DSTATE</a>;</td></tr>
<tr name="240" id="240">
<td><a id="l240" class='ln'>240</a></td><td></td></tr>
<tr name="241" id="241">
<td><a id="l241" class='ln'>241</a></td><td>  <span class="ct">// Sum: '<a class="ct blk" blk_line="241">&lt;S15&gt;/Add</a>' incorporates:</span></td></tr>
<tr name="242" id="242">
<td><a id="l242" class='ln'>242</a></td><td>  <span class="ct">//   Product: '<a class="ct blk" blk_line="242">&lt;S9&gt;/Product</a>'</span></td></tr>
<tr name="243" id="243">
<td><a id="l243" class='ln'>243</a></td><td>  <span class="ct">//   Trigonometry: '<a class="ct blk" blk_line="243">&lt;S9&gt;/Sin1</a>'</span></td></tr>
<tr name="244" id="244">
<td><a id="l244" class='ln'>244</a></td><td>  <span class="ct">//   UnitDelay: '<a class="ct blk" blk_line="244">&lt;S15&gt;/Unit Delay</a>'</span></td></tr>
<tr name="245" id="245">
<td><a id="l245" class='ln'>245</a></td><td></td></tr>
<tr name="246" id="246">
<td><a id="l246" class='ln'>246</a></td><td>  <a id="246c3" class="tk">turtletrajectory_DW</a>.<a id="246c23" class="tk">UnitDelay_DSTATE_c</a> <a id="246c42" class="tk">+=</a> <a id="246c45" class="tk">cos</a>(<a id="246c49" class="tk">rtb_Sum1</a>) <a id="246c59" class="tk">*</a></td></tr>
<tr name="247" id="247">
<td><a id="l247" class='ln'>247</a></td><td>    <a id="247c5" class="tk">turtletrajectory_B</a>.<a id="247c24" class="tk">OutportBuffer_InsertedFor_vx_at</a>;</td></tr>
<tr name="248" id="248">
<td><a id="l248" class='ln'>248</a></td><td></td></tr>
<tr name="249" id="249">
<td><a id="l249" class='ln'>249</a></td><td>  <span class="ct">// Outputs for Atomic SubSystem: '<a class="ct blk" blk_line="249">&lt;Root&gt;/Subscribe</a>'</span></td></tr>
<tr name="250" id="250">
<td><a id="l250" class='ln'>250</a></td><td>  <span class="ct">// MATLABSystem: '<a class="ct blk" blk_line="250">&lt;S5&gt;/SourceBlock</a>' incorporates:</span></td></tr>
<tr name="251" id="251">
<td><a id="l251" class='ln'>251</a></td><td>  <span class="ct">//   Inport: '<a class="ct blk" blk_line="251">&lt;S18&gt;/In1</a>'</span></td></tr>
<tr name="252" id="252">
<td><a id="l252" class='ln'>252</a></td><td></td></tr>
<tr name="253" id="253">
<td><a id="l253" class='ln'>253</a></td><td>  <a id="253c3" class="tk">b_varargout_1</a> = <a id="253c19" class="tk">Sub_turtletrajectory_108</a>.<a id="253c44" class="tk">getLatestMessage</a>(<a id="253c61" class="tk">&amp;</a><a id="253c62" class="tk">b_varargout_2</a>);</td></tr>
<tr name="254" id="254">
<td><a id="l254" class='ln'>254</a></td><td></td></tr>
<tr name="255" id="255">
<td><a id="l255" class='ln'>255</a></td><td>  <span class="ct">// Outputs for Enabled SubSystem: '<a class="ct blk" blk_line="255">&lt;S5&gt;/Enabled Subsystem</a>' incorporates:</span></td></tr>
<tr name="256" id="256">
<td><a id="l256" class='ln'>256</a></td><td>  <span class="ct">//   EnablePort: '<a class="ct blk" blk_line="256">&lt;S18&gt;/Enable</a>'</span></td></tr>
<tr name="257" id="257">
<td><a id="l257" class='ln'>257</a></td><td></td></tr>
<tr name="258" id="258">
<td><a id="l258" class='ln'>258</a></td><td>  <span class="kw">if</span> (<a id="258c7" class="tk">b_varargout_1</a>) <span class="br">{</span></td></tr>
<tr name="259" id="259">
<td><a id="l259" class='ln'>259</a></td><td>    <a id="259c5" class="tk">turtletrajectory_B</a>.<a id="259c24" class="tk">In1</a> = <a id="259c30" class="tk">b_varargout_2</a>;</td></tr>
<tr name="260" id="260">
<td><a id="l260" class='ln'>260</a></td><td>  <span class="br">}</span></td></tr>
<tr name="261" id="261">
<td><a id="l261" class='ln'>261</a></td><td></td></tr>
<tr name="262" id="262">
<td><a id="l262" class='ln'>262</a></td><td>  <span class="ct">// End of MATLABSystem: '<a class="ct blk" blk_line="262">&lt;S5&gt;/SourceBlock</a>'</span></td></tr>
<tr name="263" id="263">
<td><a id="l263" class='ln'>263</a></td><td>  <span class="ct">// End of Outputs for SubSystem: '<a class="ct blk" blk_line="263">&lt;S5&gt;/Enabled Subsystem</a>'</span></td></tr>
<tr name="264" id="264">
<td><a id="l264" class='ln'>264</a></td><td>  <span class="ct">// End of Outputs for SubSystem: '<a class="ct blk" blk_line="264">&lt;Root&gt;/Subscribe</a>'</span></td></tr>
<tr name="265" id="265">
<td><a id="l265" class='ln'>265</a></td><td></td></tr>
<tr name="266" id="266">
<td><a id="l266" class='ln'>266</a></td><td>  <span class="ct">// Sum: '<a class="ct blk" blk_line="266">&lt;S4&gt;/Sum</a>' incorporates:</span></td></tr>
<tr name="267" id="267">
<td><a id="l267" class='ln'>267</a></td><td>  <span class="ct">//   DataTypeConversion: '<a class="ct blk" blk_line="267">&lt;S4&gt;/Data Type Conversion2</a>'</span></td></tr>
<tr name="268" id="268">
<td><a id="l268" class='ln'>268</a></td><td>  <span class="ct">//   Gain: '<a class="ct blk" blk_line="268">&lt;S15&gt;/Gain</a>'</span></td></tr>
<tr name="269" id="269">
<td><a id="l269" class='ln'>269</a></td><td>  <span class="ct">//   SignalConversion: '<a class="ct blk" blk_line="269">&lt;Root&gt;/SigConversion_InsertedFor_Bus Selector_at_outport_0</a>'</span></td></tr>
<tr name="270" id="270">
<td><a id="l270" class='ln'>270</a></td><td>  <span class="ct">//   UnitDelay: '<a class="ct blk" blk_line="270">&lt;S15&gt;/Unit Delay</a>'</span></td></tr>
<tr name="271" id="271">
<td><a id="l271" class='ln'>271</a></td><td></td></tr>
<tr name="272" id="272">
<td><a id="l272" class='ln'>272</a></td><td>  <a id="272c3" class="tk">rtb_ld_g</a> = <a id="272c14" class="tk">turtletrajectory_P</a>.<a id="272c33" class="tk">Gain_Gain_m</a> <a id="272c45" class="tk">*</a></td></tr>
<tr name="273" id="273">
<td><a id="l273" class='ln'>273</a></td><td>    <a id="273c5" class="tk">turtletrajectory_DW</a>.<a id="273c25" class="tk">UnitDelay_DSTATE_c</a> <a id="273c44" class="tk">-</a> <a id="273c46" class="tk">turtletrajectory_B</a>.<a id="273c65" class="tk">In1</a>.<a id="273c69" class="tk">X</a>;</td></tr>
<tr name="274" id="274">
<td><a id="l274" class='ln'>274</a></td><td></td></tr>
<tr name="275" id="275">
<td><a id="l275" class='ln'>275</a></td><td>  <span class="ct">// Sum: '<a class="ct blk" blk_line="275">&lt;S16&gt;/Add</a>' incorporates:</span></td></tr>
<tr name="276" id="276">
<td><a id="l276" class='ln'>276</a></td><td>  <span class="ct">//   Product: '<a class="ct blk" blk_line="276">&lt;S9&gt;/Product1</a>'</span></td></tr>
<tr name="277" id="277">
<td><a id="l277" class='ln'>277</a></td><td>  <span class="ct">//   Trigonometry: '<a class="ct blk" blk_line="277">&lt;S9&gt;/Sin</a>'</span></td></tr>
<tr name="278" id="278">
<td><a id="l278" class='ln'>278</a></td><td>  <span class="ct">//   UnitDelay: '<a class="ct blk" blk_line="278">&lt;S16&gt;/Unit Delay</a>'</span></td></tr>
<tr name="279" id="279">
<td><a id="l279" class='ln'>279</a></td><td></td></tr>
<tr name="280" id="280">
<td><a id="l280" class='ln'>280</a></td><td>  <a id="280c3" class="tk">turtletrajectory_DW</a>.<a id="280c23" class="tk">UnitDelay_DSTATE_g</a> <a id="280c42" class="tk">+=</a></td></tr>
<tr name="281" id="281">
<td><a id="l281" class='ln'>281</a></td><td>    <a id="281c5" class="tk">turtletrajectory_B</a>.<a id="281c24" class="tk">OutportBuffer_InsertedFor_vx_at</a> <a id="281c56" class="tk">*</a> <a id="281c58" class="tk">sin</a>(<a id="281c62" class="tk">rtb_Sum1</a>);</td></tr>
<tr name="282" id="282">
<td><a id="l282" class='ln'>282</a></td><td></td></tr>
<tr name="283" id="283">
<td><a id="l283" class='ln'>283</a></td><td>  <span class="ct">// Sum: '<a class="ct blk" blk_line="283">&lt;S4&gt;/Sum1</a>' incorporates:</span></td></tr>
<tr name="284" id="284">
<td><a id="l284" class='ln'>284</a></td><td>  <span class="ct">//   DataTypeConversion: '<a class="ct blk" blk_line="284">&lt;S4&gt;/Data Type Conversion1</a>'</span></td></tr>
<tr name="285" id="285">
<td><a id="l285" class='ln'>285</a></td><td>  <span class="ct">//   Gain: '<a class="ct blk" blk_line="285">&lt;S16&gt;/Gain</a>'</span></td></tr>
<tr name="286" id="286">
<td><a id="l286" class='ln'>286</a></td><td>  <span class="ct">//   SignalConversion: '<a class="ct blk" blk_line="286">&lt;Root&gt;/SigConversion_InsertedFor_Bus Selector_at_outport_1</a>'</span></td></tr>
<tr name="287" id="287">
<td><a id="l287" class='ln'>287</a></td><td>  <span class="ct">//   UnitDelay: '<a class="ct blk" blk_line="287">&lt;S16&gt;/Unit Delay</a>'</span></td></tr>
<tr name="288" id="288">
<td><a id="l288" class='ln'>288</a></td><td></td></tr>
<tr name="289" id="289">
<td><a id="l289" class='ln'>289</a></td><td>  <a id="289c3" class="tk">rtb_Sum1</a> = <a id="289c14" class="tk">turtletrajectory_P</a>.<a id="289c33" class="tk">Gain_Gain_i</a> <a id="289c45" class="tk">*</a></td></tr>
<tr name="290" id="290">
<td><a id="l290" class='ln'>290</a></td><td>    <a id="290c5" class="tk">turtletrajectory_DW</a>.<a id="290c25" class="tk">UnitDelay_DSTATE_g</a> <a id="290c44" class="tk">-</a> <a id="290c46" class="tk">turtletrajectory_B</a>.<a id="290c65" class="tk">In1</a>.<a id="290c69" class="tk">Y</a>;</td></tr>
<tr name="291" id="291">
<td><a id="l291" class='ln'>291</a></td><td></td></tr>
<tr name="292" id="292">
<td><a id="l292" class='ln'>292</a></td><td>  <span class="ct">// Fcn: '<a class="ct blk" blk_line="292">&lt;S4&gt;/Fcn1</a>'</span></td></tr>
<tr name="293" id="293">
<td><a id="l293" class='ln'>293</a></td><td>  <a id="293c3" class="tk">rtb_ld</a> = <a id="293c12" class="tk">rt_atan2d_snf</a>(<a id="293c26" class="tk">rtb_Sum1</a>, <a id="293c36" class="tk">rtb_ld_g</a>);</td></tr>
<tr name="294" id="294">
<td><a id="l294" class='ln'>294</a></td><td></td></tr>
<tr name="295" id="295">
<td><a id="l295" class='ln'>295</a></td><td>  <span class="ct">// MATLAB Function: '<a class="ct blk" blk_line="295">&lt;S4&gt;/MATLAB Function</a>'</span></td></tr>
<tr name="296" id="296">
<td><a id="l296" class='ln'>296</a></td><td>  <span class="kw">if</span> (<a id="296c7" class="tk">rtb_ld</a> <a id="296c14" class="tk">&lt;</a> 0.0) <span class="br">{</span></td></tr>
<tr name="297" id="297">
<td><a id="l297" class='ln'>297</a></td><td>    <a id="297c5" class="tk">rtb_ld</a> <a id="297c12" class="tk">+=</a> 6.2831853071795862;</td></tr>
<tr name="298" id="298">
<td><a id="l298" class='ln'>298</a></td><td>  <span class="br">}</span></td></tr>
<tr name="299" id="299">
<td><a id="l299" class='ln'>299</a></td><td></td></tr>
<tr name="300" id="300">
<td><a id="l300" class='ln'>300</a></td><td>  <span class="ct">// Fcn: '<a class="ct blk" blk_line="300">&lt;S4&gt;/Fcn</a>'</span></td></tr>
<tr name="301" id="301">
<td><a id="l301" class='ln'>301</a></td><td>  <a id="301c3" class="tk">rtb_Sum1</a> = <a id="301c14" class="tk">rt_powd_snf</a>(<a id="301c26" class="tk">rtb_ld_g</a>, 2.0) <a id="301c41" class="tk">+</a> <a id="301c43" class="tk">rt_powd_snf</a>(<a id="301c55" class="tk">rtb_Sum1</a>, 2.0);</td></tr>
<tr name="302" id="302">
<td><a id="l302" class='ln'>302</a></td><td></td></tr>
<tr name="303" id="303">
<td><a id="l303" class='ln'>303</a></td><td>  <span class="ct">// BusAssignment: '<a class="ct blk" blk_line="303">&lt;Root&gt;/Bus Assignment</a>' incorporates:</span></td></tr>
<tr name="304" id="304">
<td><a id="l304" class='ln'>304</a></td><td>  <span class="ct">//   Constant: '<a class="ct blk" blk_line="304">&lt;S1&gt;/Constant</a>'</span></td></tr>
<tr name="305" id="305">
<td><a id="l305" class='ln'>305</a></td><td>  <span class="ct">//   Constant: '<a class="ct blk" blk_line="305">&lt;S4&gt;/Constant</a>'</span></td></tr>
<tr name="306" id="306">
<td><a id="l306" class='ln'>306</a></td><td></td></tr>
<tr name="307" id="307">
<td><a id="l307" class='ln'>307</a></td><td>  <a id="307c3" class="tk">turtletrajectory_B</a>.<a id="307c22" class="tk">BusAssignment</a> = <a id="307c38" class="tk">turtletrajectory_P</a>.<a id="307c57" class="tk">Constant_Value</a>;</td></tr>
<tr name="308" id="308">
<td><a id="l308" class='ln'>308</a></td><td>  <a id="308c3" class="tk">turtletrajectory_B</a>.<a id="308c22" class="tk">BusAssignment</a>.<a id="308c36" class="tk">Linear</a>.<a id="308c43" class="tk">X</a> =</td></tr>
<tr name="309" id="309">
<td><a id="l309" class='ln'>309</a></td><td>    <a id="309c5" class="tk">turtletrajectory_P</a>.<a id="309c24" class="tk">Constant_Value_m</a>;</td></tr>
<tr name="310" id="310">
<td><a id="l310" class='ln'>310</a></td><td></td></tr>
<tr name="311" id="311">
<td><a id="l311" class='ln'>311</a></td><td>  <span class="ct">// Fcn: '<a class="ct blk" blk_line="311">&lt;S4&gt;/Fcn</a>'</span></td></tr>
<tr name="312" id="312">
<td><a id="l312" class='ln'>312</a></td><td>  <span class="kw">if</span> (<a id="312c7" class="tk">rtb_Sum1</a> <a id="312c16" class="tk">&lt;</a> 0.0) <span class="br">{</span></td></tr>
<tr name="313" id="313">
<td><a id="l313" class='ln'>313</a></td><td>    <a id="313c5" class="tk">rtb_Sum1</a> = <a id="313c16" class="tk">-</a><a id="313c17" class="tk">sqrt</a>(<a id="313c22" class="tk">-</a><a id="313c23" class="tk">rtb_Sum1</a>);</td></tr>
<tr name="314" id="314">
<td><a id="l314" class='ln'>314</a></td><td>  <span class="br">}</span> <span class="kw">else</span> <span class="br">{</span></td></tr>
<tr name="315" id="315">
<td><a id="l315" class='ln'>315</a></td><td>    <a id="315c5" class="tk">rtb_Sum1</a> = <a id="315c16" class="tk">sqrt</a>(<a id="315c21" class="tk">rtb_Sum1</a>);</td></tr>
<tr name="316" id="316">
<td><a id="l316" class='ln'>316</a></td><td>  <span class="br">}</span></td></tr>
<tr name="317" id="317">
<td><a id="l317" class='ln'>317</a></td><td></td></tr>
<tr name="318" id="318">
<td><a id="l318" class='ln'>318</a></td><td>  <span class="ct">// BusAssignment: '<a class="ct blk" blk_line="318">&lt;Root&gt;/Bus Assignment</a>' incorporates:</span></td></tr>
<tr name="319" id="319">
<td><a id="l319" class='ln'>319</a></td><td>  <span class="ct">//   Constant: '<a class="ct blk" blk_line="319">&lt;S4&gt;/Constant</a>'</span></td></tr>
<tr name="320" id="320">
<td><a id="l320" class='ln'>320</a></td><td>  <span class="ct">//   Constant: '<a class="ct blk" blk_line="320">&lt;S4&gt;/Constant1</a>'</span></td></tr>
<tr name="321" id="321">
<td><a id="l321" class='ln'>321</a></td><td>  <span class="ct">//   DataTypeConversion: '<a class="ct blk" blk_line="321">&lt;S4&gt;/Data Type Conversion</a>'</span></td></tr>
<tr name="322" id="322">
<td><a id="l322" class='ln'>322</a></td><td>  <span class="ct">//   Fcn: '<a class="ct blk" blk_line="322">&lt;S4&gt;/Pure Pursuit</a>'</span></td></tr>
<tr name="323" id="323">
<td><a id="l323" class='ln'>323</a></td><td>  <span class="ct">//   MATLAB Function: '<a class="ct blk" blk_line="323">&lt;S4&gt;/MATLAB Function</a>'</span></td></tr>
<tr name="324" id="324">
<td><a id="l324" class='ln'>324</a></td><td>  <span class="ct">//   Math: '<a class="ct blk" blk_line="324">&lt;S4&gt;/Mod</a>'</span></td></tr>
<tr name="325" id="325">
<td><a id="l325" class='ln'>325</a></td><td></td></tr>
<tr name="326" id="326">
<td><a id="l326" class='ln'>326</a></td><td>  <a id="326c3" class="tk">turtletrajectory_B</a>.<a id="326c22" class="tk">BusAssignment</a>.<a id="326c36" class="tk">Angular</a>.<a id="326c44" class="tk">Z</a> = 2.0 <a id="326c52" class="tk">*</a></td></tr>
<tr name="327" id="327">
<td><a id="l327" class='ln'>327</a></td><td>    <a id="327c5" class="tk">turtletrajectory_P</a>.<a id="327c24" class="tk">Constant_Value_m</a> <a id="327c41" class="tk">*</a> <a id="327c43" class="tk">sin</a>(<a id="327c47" class="tk">rtb_ld</a> <a id="327c54" class="tk">-</a> <a id="327c56" class="tk">rt_modd_snf</a>((<a id="327c69" class="tk">real_T</a>)</td></tr>
<tr name="328" id="328">
<td><a id="l328" class='ln'>328</a></td><td>    <a id="328c5" class="tk">turtletrajectory_B</a>.<a id="328c24" class="tk">In1</a>.<a id="328c28" class="tk">Theta</a>, <a id="328c35" class="tk">turtletrajectory_P</a>.<a id="328c54" class="tk">Constant1_Value</a>)) <a id="328c72" class="tk">/</a></td></tr>
<tr name="329" id="329">
<td><a id="l329" class='ln'>329</a></td><td>    <a id="329c5" class="tk">rtb_Sum1</a>;</td></tr>
<tr name="330" id="330">
<td><a id="l330" class='ln'>330</a></td><td></td></tr>
<tr name="331" id="331">
<td><a id="l331" class='ln'>331</a></td><td>  <span class="ct">// Outputs for Atomic SubSystem: '<a class="ct blk" blk_line="331">&lt;Root&gt;/Publish</a>'</span></td></tr>
<tr name="332" id="332">
<td><a id="l332" class='ln'>332</a></td><td>  <span class="ct">// MATLABSystem: '<a class="ct blk" blk_line="332">&lt;S3&gt;/SinkBlock</a>'</span></td></tr>
<tr name="333" id="333">
<td><a id="l333" class='ln'>333</a></td><td>  <a id="333c3" class="tk">Pub_turtletrajectory_103</a>.<a id="333c28" class="tk">publish</a>(<a id="333c36" class="tk">&amp;</a><a id="333c37" class="tk">turtletrajectory_B</a>.<a id="333c56" class="tk">BusAssignment</a>);</td></tr>
<tr name="334" id="334">
<td><a id="l334" class='ln'>334</a></td><td></td></tr>
<tr name="335" id="335">
<td><a id="l335" class='ln'>335</a></td><td>  <span class="ct">// End of Outputs for SubSystem: '<a class="ct blk" blk_line="335">&lt;Root&gt;/Publish</a>'</span></td></tr>
<tr name="336" id="336">
<td><a id="l336" class='ln'>336</a></td><td>  <a id="336c3" class="tk">rate_scheduler</a>();</td></tr>
<tr name="337" id="337">
<td><a id="l337" class='ln'>337</a></td><td><span class="br">}</span></td></tr>
<tr name="338" id="338">
<td><a id="l338" class='ln'>338</a></td><td></td></tr>
<tr name="339" id="339">
<td><a id="l339" class='ln'>339</a></td><td><span class="ct">// Model initialize function</span></td></tr>
<tr name="340" id="340">
<td><a id="l340" class='ln'>340</a></td><td><span class="kw">void</span> <a id="340c6" class="tk">turtletrajectory_initialize</a>(<span class="kw">void</span>)</td></tr>
<tr name="341" id="341">
<td><a id="l341" class='ln'>341</a></td><td><span class="br">{</span></td></tr>
<tr name="342" id="342">
<td><a id="l342" class='ln'>342</a></td><td>  <span class="ct">// Registration code</span></td></tr>
<tr name="343" id="343">
<td><a id="l343" class='ln'>343</a></td><td></td></tr>
<tr name="344" id="344">
<td><a id="l344" class='ln'>344</a></td><td>  <span class="ct">// initialize non-finites</span></td></tr>
<tr name="345" id="345">
<td><a id="l345" class='ln'>345</a></td><td>  <a id="345c3" class="tk">rt_InitInfAndNaN</a>(<span class="kw">sizeof</span>(<a id="345c27" class="tk">real_T</a>));</td></tr>
<tr name="346" id="346">
<td><a id="l346" class='ln'>346</a></td><td></td></tr>
<tr name="347" id="347">
<td><a id="l347" class='ln'>347</a></td><td>  <span class="ct">// initialize real-time model</span></td></tr>
<tr name="348" id="348">
<td><a id="l348" class='ln'>348</a></td><td>  (<span class="kw">void</span>) <a id="348c10" class="tk">memset</a>((<span class="kw">void</span> <a id="348c23" class="tk">*</a>)<a id="348c25" class="tk">turtletrajectory_M</a>, 0,</td></tr>
<tr name="349" id="349">
<td><a id="l349" class='ln'>349</a></td><td>                <span class="kw">sizeof</span>(<a id="349c24" class="tk">RT_MODEL_turtletrajectory_T</a>));</td></tr>
<tr name="350" id="350">
<td><a id="l350" class='ln'>350</a></td><td></td></tr>
<tr name="351" id="351">
<td><a id="l351" class='ln'>351</a></td><td>  <span class="ct">// block I/O</span></td></tr>
<tr name="352" id="352">
<td><a id="l352" class='ln'>352</a></td><td>  (<span class="kw">void</span>) <a id="352c10" class="tk">memset</a>(((<span class="kw">void</span> <a id="352c24" class="tk">*</a>) <a id="352c27" class="tk">&amp;</a><a id="352c28" class="tk">turtletrajectory_B</a>), 0,</td></tr>
<tr name="353" id="353">
<td><a id="l353" class='ln'>353</a></td><td>                <span class="kw">sizeof</span>(<a id="353c24" class="tk">B_turtletrajectory_T</a>));</td></tr>
<tr name="354" id="354">
<td><a id="l354" class='ln'>354</a></td><td></td></tr>
<tr name="355" id="355">
<td><a id="l355" class='ln'>355</a></td><td>  <span class="ct">// states (dwork)</span></td></tr>
<tr name="356" id="356">
<td><a id="l356" class='ln'>356</a></td><td>  (<span class="kw">void</span>) <a id="356c10" class="tk">memset</a>((<span class="kw">void</span> <a id="356c23" class="tk">*</a>)<a id="356c25" class="tk">&amp;</a><a id="356c26" class="tk">turtletrajectory_DW</a>, 0,</td></tr>
<tr name="357" id="357">
<td><a id="l357" class='ln'>357</a></td><td>                <span class="kw">sizeof</span>(<a id="357c24" class="tk">DW_turtletrajectory_T</a>));</td></tr>
<tr name="358" id="358">
<td><a id="l358" class='ln'>358</a></td><td></td></tr>
<tr name="359" id="359">
<td><a id="l359" class='ln'>359</a></td><td>  <span class="br">{</span></td></tr>
<tr name="360" id="360">
<td><a id="l360" class='ln'>360</a></td><td>    <span class="kw">static</span> <span class="kw">const</span> <a id="360c18" class="tk">char_T</a> <a id="360c25" class="tk">tmp</a>[16] = <span class="br">{</span> '/', 't', 'u', 'r', 't', 'l', 'e', '1', '/',</td></tr>
<tr name="361" id="361">
<td><a id="l361" class='ln'>361</a></td><td>      'c', 'm', 'd', '_', 'v', 'e', 'l' <span class="br">}</span>;</td></tr>
<tr name="362" id="362">
<td><a id="l362" class='ln'>362</a></td><td></td></tr>
<tr name="363" id="363">
<td><a id="l363" class='ln'>363</a></td><td>    <span class="kw">static</span> <span class="kw">const</span> <a id="363c18" class="tk">char_T</a> <a id="363c25" class="tk">tmp_0</a>[13] = <span class="br">{</span> '/', 't', 'u', 'r', 't', 'l', 'e', '1',</td></tr>
<tr name="364" id="364">
<td><a id="l364" class='ln'>364</a></td><td>      '/', 'p', 'o', 's', 'e' <span class="br">}</span>;</td></tr>
<tr name="365" id="365">
<td><a id="l365" class='ln'>365</a></td><td></td></tr>
<tr name="366" id="366">
<td><a id="l366" class='ln'>366</a></td><td>    <a id="366c5" class="tk">char_T</a> <a id="366c12" class="tk">tmp_1</a>[17];</td></tr>
<tr name="367" id="367">
<td><a id="l367" class='ln'>367</a></td><td>    <a id="367c5" class="tk">char_T</a> <a id="367c12" class="tk">tmp_2</a>[14];</td></tr>
<tr name="368" id="368">
<td><a id="l368" class='ln'>368</a></td><td>    <a id="368c5" class="tk">int32_T</a> <a id="368c13" class="tk">i</a>;</td></tr>
<tr name="369" id="369">
<td><a id="l369" class='ln'>369</a></td><td></td></tr>
<tr name="370" id="370">
<td><a id="l370" class='ln'>370</a></td><td>    <span class="ct">// Start for Atomic SubSystem: '<a class="ct blk" blk_line="370">&lt;Root&gt;/Subscribe</a>'</span></td></tr>
<tr name="371" id="371">
<td><a id="l371" class='ln'>371</a></td><td>    <span class="ct">// Start for MATLABSystem: '<a class="ct blk" blk_line="371">&lt;S5&gt;/SourceBlock</a>'</span></td></tr>
<tr name="372" id="372">
<td><a id="l372" class='ln'>372</a></td><td>    <a id="372c5" class="tk">turtletrajectory_DW</a>.<a id="372c25" class="tk">obj_f</a>.<a id="372c31" class="tk">matlabCodegenIsDeleted</a> = true;</td></tr>
<tr name="373" id="373">
<td><a id="l373" class='ln'>373</a></td><td>    <a id="373c5" class="tk">turtletrajectory_DW</a>.<a id="373c25" class="tk">obj_f</a>.<a id="373c31" class="tk">isInitialized</a> = 0;</td></tr>
<tr name="374" id="374">
<td><a id="l374" class='ln'>374</a></td><td>    <a id="374c5" class="tk">turtletrajectory_DW</a>.<a id="374c25" class="tk">obj_f</a>.<a id="374c31" class="tk">matlabCodegenIsDeleted</a> = false;</td></tr>
<tr name="375" id="375">
<td><a id="l375" class='ln'>375</a></td><td>    <a id="375c5" class="tk">turtletrajectory_DW</a>.<a id="375c25" class="tk">obj_f</a>.<a id="375c31" class="tk">isSetupComplete</a> = false;</td></tr>
<tr name="376" id="376">
<td><a id="l376" class='ln'>376</a></td><td>    <a id="376c5" class="tk">turtletrajectory_DW</a>.<a id="376c25" class="tk">obj_f</a>.<a id="376c31" class="tk">isInitialized</a> = 1;</td></tr>
<tr name="377" id="377">
<td><a id="l377" class='ln'>377</a></td><td>    <span class="kw">for</span> (<a id="377c10" class="tk">i</a> = 0; <a id="377c17" class="tk">i</a> <a id="377c19" class="tk">&lt;</a> 13; <a id="377c25" class="tk">i</a><a id="377c26" class="tk">++</a>) <span class="br">{</span></td></tr>
<tr name="378" id="378">
<td><a id="l378" class='ln'>378</a></td><td>      <a id="378c7" class="tk">tmp_2</a>[<a id="378c13" class="tk">i</a>] = <a id="378c18" class="tk">tmp_0</a>[<a id="378c24" class="tk">i</a>];</td></tr>
<tr name="379" id="379">
<td><a id="l379" class='ln'>379</a></td><td>    <span class="br">}</span></td></tr>
<tr name="380" id="380">
<td><a id="l380" class='ln'>380</a></td><td></td></tr>
<tr name="381" id="381">
<td><a id="l381" class='ln'>381</a></td><td>    <a id="381c5" class="tk">tmp_2</a>[13] = '\x00';</td></tr>
<tr name="382" id="382">
<td><a id="l382" class='ln'>382</a></td><td>    <a id="382c5" class="tk">Sub_turtletrajectory_108</a>.<a id="382c30" class="tk">createSubscriber</a>(<a id="382c47" class="tk">tmp_2</a>, 1);</td></tr>
<tr name="383" id="383">
<td><a id="l383" class='ln'>383</a></td><td>    <a id="383c5" class="tk">turtletrajectory_DW</a>.<a id="383c25" class="tk">obj_f</a>.<a id="383c31" class="tk">isSetupComplete</a> = true;</td></tr>
<tr name="384" id="384">
<td><a id="l384" class='ln'>384</a></td><td></td></tr>
<tr name="385" id="385">
<td><a id="l385" class='ln'>385</a></td><td>    <span class="ct">// End of Start for MATLABSystem: '<a class="ct blk" blk_line="385">&lt;S5&gt;/SourceBlock</a>'</span></td></tr>
<tr name="386" id="386">
<td><a id="l386" class='ln'>386</a></td><td>    <span class="ct">// End of Start for SubSystem: '<a class="ct blk" blk_line="386">&lt;Root&gt;/Subscribe</a>'</span></td></tr>
<tr name="387" id="387">
<td><a id="l387" class='ln'>387</a></td><td></td></tr>
<tr name="388" id="388">
<td><a id="l388" class='ln'>388</a></td><td>    <span class="ct">// Start for Atomic SubSystem: '<a class="ct blk" blk_line="388">&lt;Root&gt;/Publish</a>'</span></td></tr>
<tr name="389" id="389">
<td><a id="l389" class='ln'>389</a></td><td>    <span class="ct">// Start for MATLABSystem: '<a class="ct blk" blk_line="389">&lt;S3&gt;/SinkBlock</a>'</span></td></tr>
<tr name="390" id="390">
<td><a id="l390" class='ln'>390</a></td><td>    <a id="390c5" class="tk">turtletrajectory_DW</a>.<a id="390c25" class="tk">obj</a>.<a id="390c29" class="tk">matlabCodegenIsDeleted</a> = true;</td></tr>
<tr name="391" id="391">
<td><a id="l391" class='ln'>391</a></td><td>    <a id="391c5" class="tk">turtletrajectory_DW</a>.<a id="391c25" class="tk">obj</a>.<a id="391c29" class="tk">isInitialized</a> = 0;</td></tr>
<tr name="392" id="392">
<td><a id="l392" class='ln'>392</a></td><td>    <a id="392c5" class="tk">turtletrajectory_DW</a>.<a id="392c25" class="tk">obj</a>.<a id="392c29" class="tk">matlabCodegenIsDeleted</a> = false;</td></tr>
<tr name="393" id="393">
<td><a id="l393" class='ln'>393</a></td><td>    <a id="393c5" class="tk">turtletrajectory_DW</a>.<a id="393c25" class="tk">obj</a>.<a id="393c29" class="tk">isSetupComplete</a> = false;</td></tr>
<tr name="394" id="394">
<td><a id="l394" class='ln'>394</a></td><td>    <a id="394c5" class="tk">turtletrajectory_DW</a>.<a id="394c25" class="tk">obj</a>.<a id="394c29" class="tk">isInitialized</a> = 1;</td></tr>
<tr name="395" id="395">
<td><a id="l395" class='ln'>395</a></td><td>    <span class="kw">for</span> (<a id="395c10" class="tk">i</a> = 0; <a id="395c17" class="tk">i</a> <a id="395c19" class="tk">&lt;</a> 16; <a id="395c25" class="tk">i</a><a id="395c26" class="tk">++</a>) <span class="br">{</span></td></tr>
<tr name="396" id="396">
<td><a id="l396" class='ln'>396</a></td><td>      <a id="396c7" class="tk">tmp_1</a>[<a id="396c13" class="tk">i</a>] = <a id="396c18" class="tk">tmp</a>[<a id="396c22" class="tk">i</a>];</td></tr>
<tr name="397" id="397">
<td><a id="l397" class='ln'>397</a></td><td>    <span class="br">}</span></td></tr>
<tr name="398" id="398">
<td><a id="l398" class='ln'>398</a></td><td></td></tr>
<tr name="399" id="399">
<td><a id="l399" class='ln'>399</a></td><td>    <a id="399c5" class="tk">tmp_1</a>[16] = '\x00';</td></tr>
<tr name="400" id="400">
<td><a id="l400" class='ln'>400</a></td><td>    <a id="400c5" class="tk">Pub_turtletrajectory_103</a>.<a id="400c30" class="tk">createPublisher</a>(<a id="400c46" class="tk">tmp_1</a>, 1);</td></tr>
<tr name="401" id="401">
<td><a id="l401" class='ln'>401</a></td><td>    <a id="401c5" class="tk">turtletrajectory_DW</a>.<a id="401c25" class="tk">obj</a>.<a id="401c29" class="tk">isSetupComplete</a> = true;</td></tr>
<tr name="402" id="402">
<td><a id="l402" class='ln'>402</a></td><td></td></tr>
<tr name="403" id="403">
<td><a id="l403" class='ln'>403</a></td><td>    <span class="ct">// End of Start for MATLABSystem: '<a class="ct blk" blk_line="403">&lt;S3&gt;/SinkBlock</a>'</span></td></tr>
<tr name="404" id="404">
<td><a id="l404" class='ln'>404</a></td><td>    <span class="ct">// End of Start for SubSystem: '<a class="ct blk" blk_line="404">&lt;Root&gt;/Publish</a>'</span></td></tr>
<tr name="405" id="405">
<td><a id="l405" class='ln'>405</a></td><td></td></tr>
<tr name="406" id="406">
<td><a id="l406" class='ln'>406</a></td><td>    <span class="ct">// InitializeConditions for UnitDelay: '<a class="ct blk" blk_line="406">&lt;S14&gt;/Unit Delay</a>'</span></td></tr>
<tr name="407" id="407">
<td><a id="l407" class='ln'>407</a></td><td>    <a id="407c5" class="tk">turtletrajectory_DW</a>.<a id="407c25" class="tk">UnitDelay_DSTATE</a> =</td></tr>
<tr name="408" id="408">
<td><a id="l408" class='ln'>408</a></td><td>      <a id="408c7" class="tk">turtletrajectory_P</a>.<a id="408c26" class="tk">UnitDelay_InitialCondition</a>;</td></tr>
<tr name="409" id="409">
<td><a id="l409" class='ln'>409</a></td><td></td></tr>
<tr name="410" id="410">
<td><a id="l410" class='ln'>410</a></td><td>    <span class="ct">// InitializeConditions for UnitDelay: '<a class="ct blk" blk_line="410">&lt;S15&gt;/Unit Delay</a>'</span></td></tr>
<tr name="411" id="411">
<td><a id="l411" class='ln'>411</a></td><td>    <a id="411c5" class="tk">turtletrajectory_DW</a>.<a id="411c25" class="tk">UnitDelay_DSTATE_c</a> =</td></tr>
<tr name="412" id="412">
<td><a id="l412" class='ln'>412</a></td><td>      <a id="412c7" class="tk">turtletrajectory_P</a>.<a id="412c26" class="tk">UnitDelay_InitialCondition_d</a>;</td></tr>
<tr name="413" id="413">
<td><a id="l413" class='ln'>413</a></td><td></td></tr>
<tr name="414" id="414">
<td><a id="l414" class='ln'>414</a></td><td>    <span class="ct">// InitializeConditions for UnitDelay: '<a class="ct blk" blk_line="414">&lt;S16&gt;/Unit Delay</a>'</span></td></tr>
<tr name="415" id="415">
<td><a id="l415" class='ln'>415</a></td><td>    <a id="415c5" class="tk">turtletrajectory_DW</a>.<a id="415c25" class="tk">UnitDelay_DSTATE_g</a> =</td></tr>
<tr name="416" id="416">
<td><a id="l416" class='ln'>416</a></td><td>      <a id="416c7" class="tk">turtletrajectory_P</a>.<a id="416c26" class="tk">UnitDelay_InitialCondition_e</a>;</td></tr>
<tr name="417" id="417">
<td><a id="l417" class='ln'>417</a></td><td></td></tr>
<tr name="418" id="418">
<td><a id="l418" class='ln'>418</a></td><td>    <span class="ct">// SystemInitialize for S-Function (fcncallgen): '<a class="ct blk" blk_line="418">&lt;S2&gt;/Function-Call Generator</a>' incorporates:</span></td></tr>
<tr name="419" id="419">
<td><a id="l419" class='ln'>419</a></td><td>    <span class="ct">//   SubSystem: '<a class="ct blk" blk_line="419">&lt;S2&gt;/Function-Call Subsystem</a>'</span></td></tr>
<tr name="420" id="420">
<td><a id="l420" class='ln'>420</a></td><td></td></tr>
<tr name="421" id="421">
<td><a id="l421" class='ln'>421</a></td><td>    <span class="ct">// InitializeConditions for UnitDelay: '<a class="ct blk" blk_line="421">&lt;S11&gt;/Output</a>'</span></td></tr>
<tr name="422" id="422">
<td><a id="l422" class='ln'>422</a></td><td>    <a id="422c5" class="tk">turtletrajectory_DW</a>.<a id="422c25" class="tk">Output_DSTATE</a> =</td></tr>
<tr name="423" id="423">
<td><a id="l423" class='ln'>423</a></td><td>      <a id="423c7" class="tk">turtletrajectory_P</a>.<a id="423c26" class="tk">Output_InitialCondition</a>;</td></tr>
<tr name="424" id="424">
<td><a id="l424" class='ln'>424</a></td><td></td></tr>
<tr name="425" id="425">
<td><a id="l425" class='ln'>425</a></td><td>    <span class="ct">// SystemInitialize for SignalConversion: '<a class="ct blk" blk_line="425">&lt;S8&gt;/OutportBuffer_InsertedFor_vx_at_inport_0</a>' incorporates:</span></td></tr>
<tr name="426" id="426">
<td><a id="l426" class='ln'>426</a></td><td>    <span class="ct">//   Constant: '<a class="ct blk" blk_line="426">&lt;S8&gt;/Constant</a>'</span></td></tr>
<tr name="427" id="427">
<td><a id="l427" class='ln'>427</a></td><td></td></tr>
<tr name="428" id="428">
<td><a id="l428" class='ln'>428</a></td><td>    <a id="428c5" class="tk">turtletrajectory_B</a>.<a id="428c24" class="tk">OutportBuffer_InsertedFor_vx_at</a> =</td></tr>
<tr name="429" id="429">
<td><a id="l429" class='ln'>429</a></td><td>      <a id="429c7" class="tk">turtletrajectory_P</a>.<a id="429c26" class="tk">Constant_Value_b</a>;</td></tr>
<tr name="430" id="430">
<td><a id="l430" class='ln'>430</a></td><td></td></tr>
<tr name="431" id="431">
<td><a id="l431" class='ln'>431</a></td><td>    <span class="ct">// SystemInitialize for Outport: '<a class="ct blk" blk_line="431">&lt;S8&gt;/wz</a>'</span></td></tr>
<tr name="432" id="432">
<td><a id="l432" class='ln'>432</a></td><td>    <a id="432c5" class="tk">turtletrajectory_B</a>.<a id="432c24" class="tk">Out</a> = <a id="432c30" class="tk">turtletrajectory_P</a>.<a id="432c49" class="tk">wz_Y0</a>;</td></tr>
<tr name="433" id="433">
<td><a id="l433" class='ln'>433</a></td><td></td></tr>
<tr name="434" id="434">
<td><a id="l434" class='ln'>434</a></td><td>    <span class="ct">// End of SystemInitialize for S-Function (fcncallgen): '<a class="ct blk" blk_line="434">&lt;S2&gt;/Function-Call Generator</a>' </span></td></tr>
<tr name="435" id="435">
<td><a id="l435" class='ln'>435</a></td><td></td></tr>
<tr name="436" id="436">
<td><a id="l436" class='ln'>436</a></td><td>    <span class="ct">// SystemInitialize for Atomic SubSystem: '<a class="ct blk" blk_line="436">&lt;Root&gt;/Subscribe</a>'</span></td></tr>
<tr name="437" id="437">
<td><a id="l437" class='ln'>437</a></td><td>    <span class="ct">// SystemInitialize for Enabled SubSystem: '<a class="ct blk" blk_line="437">&lt;S5&gt;/Enabled Subsystem</a>'</span></td></tr>
<tr name="438" id="438">
<td><a id="l438" class='ln'>438</a></td><td>    <span class="ct">// SystemInitialize for Outport: '<a class="ct blk" blk_line="438">&lt;S18&gt;/Out1</a>'</span></td></tr>
<tr name="439" id="439">
<td><a id="l439" class='ln'>439</a></td><td>    <a id="439c5" class="tk">turtletrajectory_B</a>.<a id="439c24" class="tk">In1</a> = <a id="439c30" class="tk">turtletrajectory_P</a>.<a id="439c49" class="tk">Out1_Y0</a>;</td></tr>
<tr name="440" id="440">
<td><a id="l440" class='ln'>440</a></td><td></td></tr>
<tr name="441" id="441">
<td><a id="l441" class='ln'>441</a></td><td>    <span class="ct">// End of SystemInitialize for SubSystem: '<a class="ct blk" blk_line="441">&lt;S5&gt;/Enabled Subsystem</a>'</span></td></tr>
<tr name="442" id="442">
<td><a id="l442" class='ln'>442</a></td><td>    <span class="ct">// End of SystemInitialize for SubSystem: '<a class="ct blk" blk_line="442">&lt;Root&gt;/Subscribe</a>'</span></td></tr>
<tr name="443" id="443">
<td><a id="l443" class='ln'>443</a></td><td>  <span class="br">}</span></td></tr>
<tr name="444" id="444">
<td><a id="l444" class='ln'>444</a></td><td><span class="br">}</span></td></tr>
<tr name="445" id="445">
<td><a id="l445" class='ln'>445</a></td><td></td></tr>
<tr name="446" id="446">
<td><a id="l446" class='ln'>446</a></td><td><span class="ct">// Model terminate function</span></td></tr>
<tr name="447" id="447">
<td><a id="l447" class='ln'>447</a></td><td><span class="kw">void</span> <a id="447c6" class="tk">turtletrajectory_terminate</a>(<span class="kw">void</span>)</td></tr>
<tr name="448" id="448">
<td><a id="l448" class='ln'>448</a></td><td><span class="br">{</span></td></tr>
<tr name="449" id="449">
<td><a id="l449" class='ln'>449</a></td><td>  <span class="ct">// Terminate for Atomic SubSystem: '<a class="ct blk" blk_line="449">&lt;Root&gt;/Subscribe</a>'</span></td></tr>
<tr name="450" id="450">
<td><a id="l450" class='ln'>450</a></td><td>  <span class="ct">// Terminate for MATLABSystem: '<a class="ct blk" blk_line="450">&lt;S5&gt;/SourceBlock</a>'</span></td></tr>
<tr name="451" id="451">
<td><a id="l451" class='ln'>451</a></td><td>  <a id="451c3" class="tk">matlabCodegenHandle_matlabCod_e</a>(<a id="451c35" class="tk">&amp;</a><a id="451c36" class="tk">turtletrajectory_DW</a>.<a id="451c56" class="tk">obj_f</a>);</td></tr>
<tr name="452" id="452">
<td><a id="l452" class='ln'>452</a></td><td></td></tr>
<tr name="453" id="453">
<td><a id="l453" class='ln'>453</a></td><td>  <span class="ct">// End of Terminate for SubSystem: '<a class="ct blk" blk_line="453">&lt;Root&gt;/Subscribe</a>'</span></td></tr>
<tr name="454" id="454">
<td><a id="l454" class='ln'>454</a></td><td></td></tr>
<tr name="455" id="455">
<td><a id="l455" class='ln'>455</a></td><td>  <span class="ct">// Terminate for Atomic SubSystem: '<a class="ct blk" blk_line="455">&lt;Root&gt;/Publish</a>'</span></td></tr>
<tr name="456" id="456">
<td><a id="l456" class='ln'>456</a></td><td>  <span class="ct">// Terminate for MATLABSystem: '<a class="ct blk" blk_line="456">&lt;S3&gt;/SinkBlock</a>'</span></td></tr>
<tr name="457" id="457">
<td><a id="l457" class='ln'>457</a></td><td>  <a id="457c3" class="tk">matlabCodegenHandle_matlabCodeg</a>(<a id="457c35" class="tk">&amp;</a><a id="457c36" class="tk">turtletrajectory_DW</a>.<a id="457c56" class="tk">obj</a>);</td></tr>
<tr name="458" id="458">
<td><a id="l458" class='ln'>458</a></td><td></td></tr>
<tr name="459" id="459">
<td><a id="l459" class='ln'>459</a></td><td>  <span class="ct">// End of Terminate for SubSystem: '<a class="ct blk" blk_line="459">&lt;Root&gt;/Publish</a>'</span></td></tr>
<tr name="460" id="460">
<td><a id="l460" class='ln'>460</a></td><td><span class="br">}</span></td></tr>
<tr name="461" id="461">
<td><a id="l461" class='ln'>461</a></td><td></td></tr>
<tr name="462" id="462">
<td><a id="l462" class='ln'>462</a></td><td><span class="ct">//</span></td></tr>
<tr name="463" id="463">
<td><a id="l463" class='ln'>463</a></td><td><span class="ct">// File trailer for generated code.</span></td></tr>
<tr name="464" id="464">
<td><a id="l464" class='ln'>464</a></td><td><span class="ct">//</span></td></tr>
<tr name="465" id="465">
<td><a id="l465" class='ln'>465</a></td><td><span class="ct">// [EOF]</span></td></tr>
<tr name="466" id="466">
<td><a id="l466" class='ln'>466</a></td><td><span class="ct">//</span></td></tr>
<tr name="467" id="467">
<td><a id="l467" class='ln'>467</a></td><td></td></tr>
</table>
</pre>
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